cmake_minimum_required(VERSION 3.8)
project(cyberdog_action)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()


include_directories(/usr/local/cuda-10.2/include)
link_directories(/usr/local/cuda-10.2/lib64)

find_package(OpenCV 4 REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(protocol REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(params REQUIRED)
#find_package(cyberdog_system REQUIRED)
find_package(cyberdog_common REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(nvinference REQUIRED)

include_directories(include)
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(/usr/include/aarch64-linux-gnu/)
link_directories(/usr/lib/aarch64-linux-gnu/)
add_executable(${PROJECT_NAME}
  src/main.cpp
  src/cyberdog_hand_action.cpp)

target_link_libraries(${PROJECT_NAME}
  ${cyberdog_log_LIBRARIES})
target_link_libraries(${PROJECT_NAME} nvinfer)
target_link_libraries(${PROJECT_NAME} cudart)
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
add_definitions(-O2 -pthread)

target_include_directories(${PROJECT_NAME} PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17

ament_target_dependencies(${PROJECT_NAME}
  rclcpp
  protocol
  ament_index_cpp
  sensor_msgs
  cv_bridge
  params
  nvinference
  cyberdog_common
  std_msgs)

install(TARGETS ${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME})



# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
